孔检测HoleDetection 做了算法更新

App/HoleDetection/HoleDetectionApp/Presenter/Src/HoleDetectionPresenter.cpp

@@ -211,19 +211,21 @@ int HoleDetectionPresenter::InitAlgoParams()
              xmlParams.detectionParam.maxRadius,
              xmlParams.detectionParam.expansionSize1,
              xmlParams.detectionParam.expansionSize2);
-    LOG_INFO("Loaded XML params - Detection: minVTransitionPoints=%d\n",
+    LOG_INFO("Loaded XML params - Detection: minVTransitionPoints=%d, edgeBoundaryFilterDist=%.2f\n",
-             xmlParams.detectionParam.minVTransitionPoints);
+             xmlParams.detectionParam.minVTransitionPoints,
+             xmlParams.detectionParam.edgeBoundaryFilterDist);
 
     // 打印过滤参数
     LOG_INFO("Loaded XML params - Filter: maxEccentricity=%.5f, minAngularCoverage=%.1f, maxRadiusFitRatio=%.2f\n",
              xmlParams.filterParam.maxEccentricity,
              xmlParams.filterParam.minAngularCoverage,
              xmlParams.filterParam.maxRadiusFitRatio);
-    LOG_INFO("Loaded XML params - Filter: minQualityScore=%.2f, maxPlaneResidual=%.1f, maxAngularGap=%.1f, minInlierRatio=%.2f\n",
+    LOG_INFO("Loaded XML params - Filter: minQualityScore=%.2f, maxPlaneResidual=%.1f, maxAngularGap=%.1f, minInlierRatio=%.2f, minHoleDepth=%.2f\n",
              xmlParams.filterParam.minQualityScore,
              xmlParams.filterParam.maxPlaneResidual,
              xmlParams.filterParam.maxAngularGap,
-             xmlParams.filterParam.minInlierRatio);
+             xmlParams.filterParam.minInlierRatio,
+             xmlParams.filterParam.minHoleDepth);
 
     LOG_INFO("Loaded XML params - SortMode: %d\n", xmlParams.sortMode);
 

App/HoleDetection/HoleDetectionApp/Version.h

@@ -5,7 +5,7 @@
 #define HOLEDETECTION_APP_NAME "孔洞检测"
 
 // 版本字符串
-#define HOLEDETECTION_VERSION_STRING "1.1.0"
+#define HOLEDETECTION_VERSION_STRING "1.1.1"
 #define HOLEDETECTION_BUILD_STRING "1"
 #define HOLEDETECTION_FULL_VERSION_STRING "V" HOLEDETECTION_VERSION_STRING "_" HOLEDETECTION_BUILD_STRING
 

App/HoleDetection/HoleDetectionApp/Version.md

@@ -1,3 +1,7 @@
+# 1.1.1 2026-04-02
+## build_1
+1. 更新算法
+
 # 1.1.0 2026-03-25
 ## build_1
 1. 算法优化

App/HoleDetection/HoleDetectionApp/dialogalgoarg.cpp

@@ -319,6 +319,7 @@ void DialogAlgoarg::LoadDetectionParamToUI(const VrHoleDetectionParam& param)
     ui->lineEdit_expansionSize1->setText(QString::number(param.expansionSize1));
     ui->lineEdit_expansionSize2->setText(QString::number(param.expansionSize2));
     ui->lineEdit_minVTransitionPoints->setText(QString::number(param.minVTransitionPoints));
+    ui->lineEdit_edgeBoundaryFilterDist->setText(QString::number(param.edgeBoundaryFilterDist));
 }
 
 void DialogAlgoarg::LoadFilterParamToUI(const VrHoleFilterParam& param)
@@ -332,6 +333,7 @@ void DialogAlgoarg::LoadFilterParamToUI(const VrHoleFilterParam& param)
     ui->lineEdit_maxPlaneResidual->setText(QString::number(param.maxPlaneResidual));
     ui->lineEdit_maxAngularGap->setText(QString::number(param.maxAngularGap));
     ui->lineEdit_minInlierRatio->setText(QString::number(param.minInlierRatio));
+    ui->lineEdit_minHoleDepth->setText(QString::number(param.minHoleDepth));
 }
 
 void DialogAlgoarg::LoadSortModeToUI(int sortMode)
@@ -377,6 +379,9 @@ bool DialogAlgoarg::SaveDetectionParamFromUI(VrHoleDetectionParam& param)
     param.minVTransitionPoints = ui->lineEdit_minVTransitionPoints->text().toInt(&ok);
     if (!ok) return false;
 
+    param.edgeBoundaryFilterDist = ui->lineEdit_edgeBoundaryFilterDist->text().toDouble(&ok);
+    if (!ok) return false;
+
     return true;
 }
 
@@ -405,6 +410,9 @@ bool DialogAlgoarg::SaveFilterParamFromUI(VrHoleFilterParam& param)
     param.minInlierRatio = ui->lineEdit_minInlierRatio->text().toDouble(&ok);
     if (!ok) return false;
 
+    param.minHoleDepth = ui->lineEdit_minHoleDepth->text().toDouble(&ok);
+    if (!ok) return false;
+
     return true;
 }
 

App/HoleDetection/HoleDetectionApp/dialogalgoarg.ui

@@ -182,6 +182,16 @@ QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px;
           <item row="8" column="1">
            <widget class="QLineEdit" name="lineEdit_minVTransitionPoints"/>
           </item>
+          <item row="9" column="0">
+           <widget class="QLabel" name="label_edgeBoundaryFilterDist">
+            <property name="text">
+             <string>边缘过滤距离 (mm):</string>
+            </property>
+           </widget>
+          </item>
+          <item row="9" column="1">
+           <widget class="QLineEdit" name="lineEdit_edgeBoundaryFilterDist"/>
+          </item>
          </layout>
         </widget>
        </item>
@@ -296,13 +306,23 @@ QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px;
            <widget class="QLineEdit" name="lineEdit_minInlierRatio"/>
           </item>
           <item row="7" column="0">
+           <widget class="QLabel" name="label_minHoleDepth">
+            <property name="text">
+             <string>最小孔深 (mm):</string>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="1">
+           <widget class="QLineEdit" name="lineEdit_minHoleDepth"/>
+          </item>
+          <item row="8" column="0">
            <widget class="QLabel" name="label_sortMode">
             <property name="text">
              <string>排序模式:</string>
             </property>
            </widget>
           </item>
-          <item row="7" column="1">
+          <item row="8" column="1">
            <widget class="QComboBox" name="comboBox_sortMode"/>
           </item>
          </layout>

App/HoleDetection/HoleDetectionConfig/Inc/IVrConfig.h

@@ -20,12 +20,13 @@ struct VrHoleDetectionParam
     int neighborCount = 3;                  // 相邻点连接数
     double angleThresholdPos = 30.0;        // 正角度阈值（度）
     double angleThresholdNeg = -30.0;       // 负角度阈值（度）
-    double minPitDepth = 1.0;              // 最小凹坑深度（mm）
+    double minPitDepth = 1.0;               // 最小凹坑深度（mm）
-    double minRadius = 2.0;                // 最小孔半径（mm）
+    double minRadius = 2.0;                 // 最小孔半径（mm）
-    double maxRadius = 50.0;               // 最大孔半径（mm）
+    double maxRadius = 50.0;                // 最大孔半径（mm）
-    int expansionSize1 = 5;                // 第一环扩展大小
+    int expansionSize1 = 5;                 // 第一环扩展大小
-    int expansionSize2 = 10;               // 第二环扩展大小
+    int expansionSize2 = 10;                // 第二环扩展大小
-    int minVTransitionPoints = 1;          // V形端点间最小有效过渡点数
+    int minVTransitionPoints = 1;           // V形端点间最小有效过渡点数
+    double edgeBoundaryFilterDist = 0.0;    // 边缘过滤距离（mm）
 };
 
 /**
@@ -40,6 +41,7 @@ struct VrHoleFilterParam
     double maxPlaneResidual = 10.0;       // 最大平面残差（mm）
     double maxAngularGap = 90.0;          // 最大角度间隙（度）
     double minInlierRatio = 0.0;          // 最小内点比率
+    double minHoleDepth = 2.5;            // 最小孔深（mm）
 };
 
 /**

App/HoleDetection/HoleDetectionConfig/Src/AlgoParamConverter.cpp

@@ -15,6 +15,7 @@ SHoleDetectionParams ToAlgoParam(const VrHoleDetectionParam& param)
     algo.expansionSize1      = param.expansionSize1;
     algo.expansionSize2      = param.expansionSize2;
     algo.minVTransitionPoints = param.minVTransitionPoints;
+    algo.edgeBoundaryFilterDist = static_cast<float>(param.edgeBoundaryFilterDist);
     return algo;
 }
 
@@ -28,6 +29,7 @@ SHoleFilterParams ToAlgoParam(const VrHoleFilterParam& param)
     algo.maxPlaneResidual   = static_cast<float>(param.maxPlaneResidual);
     algo.maxAngularGap      = static_cast<float>(param.maxAngularGap);
     algo.minInlierRatio     = static_cast<float>(param.minInlierRatio);
+    algo.minHoleDepth       = static_cast<float>(param.minHoleDepth);
     return algo;
 }
 
@@ -46,15 +48,16 @@ void LogAlgoParams(const std::string& logTag,
     LOG_INFO("%s DetectionParams: angleThresholdPos=%.1f, angleThresholdNeg=%.1f, minPitDepth=%.1f\n",
         logTag.c_str(), detectionParams.angleThresholdPos,
         detectionParams.angleThresholdNeg, detectionParams.minPitDepth);
-    LOG_INFO("%s DetectionParams: minRadius=%.1f, maxRadius=%.1f, expansionSize1=%d, expansionSize2=%d, minVTransitionPoints=%d\n",
+    LOG_INFO("%s DetectionParams: minRadius=%.1f, maxRadius=%.1f, expansionSize1=%d, expansionSize2=%d, minVTransitionPoints=%d, edgeBoundaryFilterDist=%.2f\n",
         logTag.c_str(), detectionParams.minRadius, detectionParams.maxRadius,
-        detectionParams.expansionSize1, detectionParams.expansionSize2, detectionParams.minVTransitionPoints);
+        detectionParams.expansionSize1, detectionParams.expansionSize2,
+        detectionParams.minVTransitionPoints, detectionParams.edgeBoundaryFilterDist);
 
     LOG_INFO("%s FilterParams: maxEccentricity=%.5f, minAngularCoverage=%.1f, maxRadiusFitRatio=%.2f\n",
         logTag.c_str(), filterParams.maxEccentricity, filterParams.minAngularCoverage, filterParams.maxRadiusFitRatio);
-    LOG_INFO("%s FilterParams: minQualityScore=%.2f, maxPlaneResidual=%.1f, maxAngularGap=%.1f, minInlierRatio=%.2f\n",
+    LOG_INFO("%s FilterParams: minQualityScore=%.2f, maxPlaneResidual=%.1f, maxAngularGap=%.1f, minInlierRatio=%.2f, minHoleDepth=%.2f\n",
         logTag.c_str(), filterParams.minQualityScore, filterParams.maxPlaneResidual,
-        filterParams.maxAngularGap, filterParams.minInlierRatio);
+        filterParams.maxAngularGap, filterParams.minInlierRatio, filterParams.minHoleDepth);
 }
 
 } // namespace AlgoParamConverter

App/HoleDetection/HoleDetectionConfig/Src/VrConfig.cpp

@@ -84,6 +84,8 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
                 configResult.algorithmParams.detectionParam.expansionSize2 = detectionParamElement->IntAttribute("expansionSize2");
             if (detectionParamElement->Attribute("minVTransitionPoints"))
                 configResult.algorithmParams.detectionParam.minVTransitionPoints = detectionParamElement->IntAttribute("minVTransitionPoints");
+            if (detectionParamElement->Attribute("edgeBoundaryFilterDist"))
+                configResult.algorithmParams.detectionParam.edgeBoundaryFilterDist = detectionParamElement->DoubleAttribute("edgeBoundaryFilterDist");
         }
 
         // 解析孔洞过滤参数
@@ -104,6 +106,8 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
                 configResult.algorithmParams.filterParam.maxAngularGap = filterParamElement->DoubleAttribute("maxAngularGap");
             if (filterParamElement->Attribute("minInlierRatio"))
                 configResult.algorithmParams.filterParam.minInlierRatio = filterParamElement->DoubleAttribute("minInlierRatio");
+            if (filterParamElement->Attribute("minHoleDepth"))
+                configResult.algorithmParams.filterParam.minHoleDepth = filterParamElement->DoubleAttribute("minHoleDepth");
         }
 
         // 解析排序模式
@@ -196,6 +200,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
     detectionParamElement->SetAttribute("expansionSize1", configResult.algorithmParams.detectionParam.expansionSize1);
     detectionParamElement->SetAttribute("expansionSize2", configResult.algorithmParams.detectionParam.expansionSize2);
     detectionParamElement->SetAttribute("minVTransitionPoints", configResult.algorithmParams.detectionParam.minVTransitionPoints);
+    detectionParamElement->SetAttribute("edgeBoundaryFilterDist", configResult.algorithmParams.detectionParam.edgeBoundaryFilterDist);
     algoParamsElement->InsertEndChild(detectionParamElement);
 
     // 添加孔洞过滤参数
@@ -207,6 +212,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
     filterParamElement->SetAttribute("maxPlaneResidual", configResult.algorithmParams.filterParam.maxPlaneResidual);
     filterParamElement->SetAttribute("maxAngularGap", configResult.algorithmParams.filterParam.maxAngularGap);
     filterParamElement->SetAttribute("minInlierRatio", configResult.algorithmParams.filterParam.minInlierRatio);
+    filterParamElement->SetAttribute("minHoleDepth", configResult.algorithmParams.filterParam.minHoleDepth);
     algoParamsElement->InsertEndChild(filterParamElement);
 
     // 添加排序模式

App/HoleDetection/HoleDetectionConfig/config/config.xml

@@ -12,11 +12,13 @@
             minPitDepth="1.0" angleStep="1.0" maxScanRadius="100.0" clusterEps="5.0"
             clusterMinPoints="5" minRadius="5.0" maxRadius="50.0" expansionSize1="5"
             expansionSize2="10" validZThreshold="0.0001" minVTransitionPoints="1"
+            edgeBoundaryFilterDist="0.0"
             cornerScale="2.0" cornerAngleThreshold="45.0" jumpCornerTh_1="10.0"
             jumpCornerTh_2="30.0" minEndingGap="5.0" minEndingGap_z="1.0"/>
         <FilterParam minHoleRadius="1.0" maxHoleRadius="10.0" maxEccentricity="0.99995"
             maxCornerRatio="0.15" minAngularCoverage="10.0" maxRadiusFitRatio="0.3"
-            minQualityScore="0.3" maxPlaneResidual="10.0" maxAngularGap="90.0" minInlierRatio="0.3"/>
+            minQualityScore="0.3" maxPlaneResidual="10.0" maxAngularGap="90.0" minInlierRatio="0.3"
+            minHoleDepth="2.5"/>
         <SortMode value="0"/>
         <PlaneCalibParams>
             <CameraCalibParam cameraIndex="1" cameraName="Camera1" isCalibrated="false" planeHeight="-1.0"

App/HolePitPosition/HolePitPositionApp/main.cpp

@@ -1,41 +1,133 @@
 #include "mainwindow.h"
 #include "SingleInstanceManager.h"
 #include "AuthView.h"
+#include "AuthManager.h"
+#include "HolePitPositionPresenter.h"
+#include "IYHolePitPositionStatus.h"
+#include "VrLog.h"
 
 #include <QApplication>
 #include <QIcon>
 #include <QMessageBox>
 #include <QObject>
 #include <cstdio>
+#include <cstring>
+
+#ifdef Q_OS_UNIX
+#include <cstdlib>
+#include <sys/stat.h>
+#endif
+
+// 无桌面模式下的状态监听器，将状态信息输出到日志
+class HeadlessStatusListener : public IYHolePitPositionStatus
+{
+public:
+    void OnStatusUpdate(const std::string& msg) override {
+        LOG_INFO("[Headless] Status: %s\n", msg.c_str());
+    }
+    void OnDetectionResult(const HolePitPositionResult& result) override {
+        LOG_INFO("[Headless] DetectionResult received, errorCode=%d\n", result.errorCode);
+    }
+    void OnCamera1StatusChanged(bool connected) override {
+        LOG_INFO("[Headless] Camera1: %s\n", connected ? "connected" : "disconnected");
+    }
+    void OnCamera2StatusChanged(bool connected) override {
+        LOG_INFO("[Headless] Camera2: %s\n", connected ? "connected" : "disconnected");
+    }
+    void OnRobotConnectionChanged(bool connected) override {
+        LOG_INFO("[Headless] Robot: %s\n", connected ? "connected" : "disconnected");
+    }
+    void OnSerialConnectionChanged(bool connected) override {
+        LOG_INFO("[Headless] Serial: %s\n", connected ? "connected" : "disconnected");
+    }
+    void OnCameraCountChanged(int count) override {
+        LOG_INFO("[Headless] CameraCount: %d\n", count);
+    }
+    void OnWorkStatusChanged(WorkStatus status) override {
+        LOG_INFO("[Headless] WorkStatus changed: %d\n", static_cast<int>(status));
+    }
+};
+
+#ifdef Q_OS_UNIX
+// 检测设备文件是否存在
+static bool deviceExists(const char* path)
+{
+    struct stat st;
+    return stat(path, &st) == 0;
+}
+
+// 检测是否有可用的显示设备（X11、Wayland、framebuffer、DRM 任意一种即可）
+static bool detectDisplay()
+{
+    // X11 / Wayland 环境变量
+    const char* display     = std::getenv("DISPLAY");
+    const char* waylandDisp = std::getenv("WAYLAND_DISPLAY");
+    if ((display     && strlen(display)     > 0) ||
+        (waylandDisp && strlen(waylandDisp) > 0)) {
+        return true;
+    }
+
+    // Framebuffer（嵌入式 ARM 常见）
+    if (deviceExists("/dev/fb0")) {
+        return true;
+    }
+
+    return false;
+}
+#endif
 
 int main(int argc, char *argv[])
 {
+    bool hasDisplay = true;
+#ifdef Q_OS_UNIX
+    hasDisplay = detectDisplay();
+    if (!hasDisplay) {
+        qputenv("QT_QPA_PLATFORM", "offscreen");
+        fprintf(stderr, "[Main] No display detected, running in headless mode.\n");
+        fflush(stderr);
+    }
+#endif
+
     QApplication a(argc, argv);
 
-    // 设置应用程序图标
-    a.setWindowIcon(QIcon(":/common/resource/logo.png"));
-
-    // 使用 SingleInstanceManager 检查单例
     SingleInstanceManager instanceManager("HolePitPositionApp_SingleInstance_Key");
 
-    if (instanceManager.isAnotherInstanceRunning()) {
+    if (hasDisplay) {
-        // 已有实例在运行，显示提示信息并退出
+        // ---- 有桌面：完整 UI 模式 ----
-        QMessageBox::information(nullptr,
+        a.setWindowIcon(QIcon(":/common/resource/logo.png"));
-            QObject::tr("应用程序已运行"),
+
-            QObject::tr("坑孔定位检测应用程序已经在运行中，请勿重复启动！"),
+        if (instanceManager.isAnotherInstanceRunning()) {
-            QMessageBox::Ok);
+            QMessageBox::information(nullptr,
-        return 0;
+                QObject::tr("应用程序已运行"),
+                QObject::tr("坑孔定位检测应用程序已经在运行中，请勿重复启动！"),
+                QMessageBox::Ok);
+            return 0;
+        }
+
+        if (!AuthView::CheckAndShow(nullptr)) {
+            return 0;
+        }
+
+        MainWindow w;
+        w.show();
+        return a.exec();
+    } else {
+        // ---- 无桌面：只启动业务逻辑 ----
+        if (instanceManager.isAnotherInstanceRunning()) {
+            return 0;
+        }
+
+        // 无UI模式下直接检查授权有效性
+        if (!AuthManager::CheckLicenseValid()) {
+            fprintf(stderr, "[Main] Authorization check failed, exiting.\n");
+            fflush(stderr);
+            return 0;
+        }
+
+        static HeadlessStatusListener listener;
+        static HolePitPositionPresenter presenter;
+        presenter.SetStatusCallback<IYHolePitPositionStatus>(&listener);
+        presenter.Init();
+        return a.exec();
     }
-
-    // 检查授权，无授权则显示授权对话框
-    if (!AuthView::CheckAndShow(nullptr)) {
-        // 用户取消授权或授权失败，退出程序
-        return 0;
-    }
-
-    // 没有其他实例运行，正常启动应用程序
-    MainWindow w;
-    w.show();
-
-    return a.exec();
 }

AppAlgo/holeDetection/include/HoleDetection.h

@@ -5,17 +5,19 @@
 #include "ErrorCodes.h"
 #include "../include/VZNL_Types.h"
 
-// Export macro for Windows DLL
+// Export macro for shared library
 #ifdef _WIN32
     #ifdef HOLE_DETECTION_EXPORTS
         #define HOLE_DETECTION_API __declspec(dllexport)
     #else
         #define HOLE_DETECTION_API __declspec(dllimport)
     #endif
-#elif defined(__GNUC__) || defined(__clang__)
-    #define HOLE_DETECTION_API __attribute__((visibility("default")))
 #else
-    #define HOLE_DETECTION_API
+    #ifdef HOLE_DETECTION_EXPORTS
+        #define HOLE_DETECTION_API __attribute__((visibility("default")))
+    #else
+        #define HOLE_DETECTION_API
+    #endif
 #endif
 
 /**
@@ -82,6 +84,16 @@ struct SClusterInfo {
     int count;                          // Number of points in this cluster
 };
 
+/**
+ * @brief Plane segmentation information for debug callbacks
+ */
+struct SPlaneSegmentInfo {
+    float normalX, normalY, normalZ;   // 平面法向量 (归一化)
+    int pointCount;                     // 该平面的点数
+    const int* pointIndices;            // 点索引数组 (在原始grid中的索引)
+    float normalAngleDeg;               // 法向量与参考方向的夹角 (度)
+};
+
 /**
  * @brief Debug callbacks for visualization and debugging
  *
@@ -149,10 +161,47 @@ struct SHoleDetectionDebugCallbacks {
         void* userData
     );
 
+    /**
+     * @brief Called after RANSAC plane segmentation and normal filtering
+     * @param planes Array of plane segment information
+     * @param planeCount Number of planes
+     * @param totalPointCount Total number of points in the grid (rows * cols)
+     * @param userData User-provided context pointer
+     */
+    void (*onPlanesSegmented)(
+        const SPlaneSegmentInfo* planes,
+        int planeCount,
+        int totalPointCount,
+        void* userData
+    );
+
+    /**
+     * @brief Called after masked points grid is built for a plane
+     * @param points Masked point array (grid format, rows * cols)
+     * @param rows Row count
+     * @param cols Column count
+     * @param planeIndex Index of the current plane (0-based)
+     * @param userData User-provided context pointer
+     */
+    void (*onMaskedPointsReady)(
+        const SVzNLPointXYZ* points,
+        int rows,
+        int cols,
+        int planeIndex,
+        void* userData
+    );
+
     /**
      * @brief User-provided context pointer, passed to all callbacks
      */
     void* userData;
+
+    /**
+     * @brief If non-null, each cluster's boundary points are saved as a CSV file
+     *        in this directory before fitting. Files are named cluster_0.csv, cluster_1.csv, ...
+     *        Fields: row,col,x,y,z
+     */
+    const char* clusterOutputDir;
 };
 
 /**
@@ -200,12 +249,4 @@ HOLE_DETECTION_API int DetectMultipleHoles(
  */
 HOLE_DETECTION_API void PrintDetectionResults(const SMultiHoleResult& result, bool verbose = true);
 
-/**
- * @brief Print a single hole result to console
- *
- * @param [in] hole Single hole result
- * @param [in] index Hole index (for display purposes)
- */
-HOLE_DETECTION_API void PrintHoleResult(const SHoleResult& hole, int index);
-
 #endif // HOLE_DETECTION_H

AppAlgo/holeDetection/include/HoleDetectionParams.h

@@ -2,7 +2,7 @@
 #define HOLE_DETECTION_PARAMS_H
 
 #include <cmath>
-#include "VZNL_Types.h"  // 使用 VZNL_Types.h 中定义的类型
+#include "../include/VZNL_Types.h"  // 使用 VZNL_Types.h 中定义的类型
 
 /**
  * @brief 孔洞检测算法的检测参数
@@ -33,6 +33,9 @@ struct SHoleDetectionParams {
                                     // 当曲率角未超过 angleThreshold 时，若前后参考点间的
                                     // 净 Z 坡度角超过此阈值，则将该点判定为下降或上升趋势。
                                     // 设置为 0 可禁用坡度补充判断。
+    float edgeBoundaryFilterDist;   // 边缘过滤距离，单位：mm（默认值：0.0，即不过滤）
+                                    // pair 中任意端点到首/尾有效线（行扫描取 y，列扫描取 x）
+                                    // 的距离小于此值时，该 pair 将被剔除。
 
     // 构造函数，设置默认值
     SHoleDetectionParams()
@@ -51,6 +54,7 @@ struct SHoleDetectionParams {
         , minFeatureSpan(2.0f)
         , residualSmoothWindow(5)
         , slopeAngleThreshold(3.0f)
+        , edgeBoundaryFilterDist(0.0f)
     {}
 };
 
@@ -78,6 +82,10 @@ struct SHoleFilterParams {
     float minInlierRatio;           // 圆拟合的最小内点比率（默认值：0.0）
                                     // 表示落在拟合圆容差范围内的点所占比例。
 
+    // 深度验证
+    float minHoleDepth;             // 圆孔内部最大 Z 与参考平面 Z 的最小差值，单位：mm（默认值：2.5）
+                                    // 若差值小于此阈值则认为是假孔，返回失败。<=0 表示不过滤。
+
     // 构造函数，设置默认值
     SHoleFilterParams()
         : maxEccentricity(0.99995f)
@@ -87,6 +95,7 @@ struct SHoleFilterParams {
         , maxPlaneResidual(10.0f)
         , maxAngularGap(90.0f)
         , minInlierRatio(0.f)
+        , minHoleDepth(2.5f)
     {}
 };
 

AppAlgo/holeDetection/include/PlaneSegmentation.h

@@ -282,4 +282,109 @@ int ComputeRowZDiffFluctuation(
     int* errCode
 );
 
+// ========== RANSAC 平面分割 ==========
+
+/**
+ * @brief RANSAC平面分割参数
+ */
+struct RansacPlaneSegmentationParams {
+    float distanceThreshold;    // 点到平面距离阈值 (mm), 建议 0.5-2.0
+    int maxIterations;          // RANSAC最大迭代次数, 建议 100-1000
+    int minPlanePoints;         // 最小平面点数, 建议 50-200
+    int maxPlanes;              // 最大提取平面数量, 建议 3-10
+    float growthZThreshold;     // 区域生长时相邻点Z差阈值 (mm), 建议 0.5-2.0
+    float minPlaneRatio;        // 平面最小点数占比 (相对最大平面), 建议 0.05-0.2
+
+    RansacPlaneSegmentationParams()
+        : distanceThreshold(1.0f)
+        , maxIterations(500)
+        , minPlanePoints(100)
+        , maxPlanes(5)
+        , growthZThreshold(1.0f)
+        , minPlaneRatio(0.1f)
+    {}
+};
+
+/**
+ * @brief 法向量过滤参数
+ */
+struct NormalFilterParams {
+    float maxAngleDeg;          // 法向量与参考方向的最大夹角 (度), 建议 30-60
+    float refNx, refNy, refNz;  // 参考法向量方向 (默认Z轴)
+    float maxDistFromPlane;     // 点到平面的最大允许距离；超出则从 pointIndices 中移除；<=0 表示不过滤
+
+    NormalFilterParams()
+        : maxAngleDeg(45.0f)
+        , refNx(0.0f)
+        , refNy(0.0f)
+        , refNz(1.0f)
+        , maxDistFromPlane(2.0f)
+    {}
+};
+
+/**
+ * @brief 分割出的平面信息
+ */
+struct PlaneSegment {
+    float a, b, c, d;               // 平面方程 ax + by + cz + d = 0 (a,b,c 已归一化)
+    std::vector<int> pointIndices;   // 属于该平面的点索引 (在原始grid中的索引)
+    int pointCount;                  // 点数
+    float normalAngleDeg;            // 与参考法向的夹角 (度)
+
+    PlaneSegment()
+        : a(0.0f), b(0.0f), c(1.0f), d(0.0f)
+        , pointCount(0)
+        , normalAngleDeg(0.0f)
+    {}
+};
+
+/**
+ * @brief 使用RANSAC方法迭代分割多个平面
+ *
+ * 算法流程:
+ * 1. 收集所有有效点
+ * 2. 迭代执行RANSAC:
+ *    a. 随机采样3个点拟合平面
+ *    b. 统计内点数
+ *    c. 保留最优平面模型
+ *    d. 提取内点，从剩余点中移除
+ * 3. 重复直到剩余点不足或达到最大平面数
+ *
+ * @param points 输入点云 (grid格式, rows*cols)
+ * @param rows 行数
+ * @param cols 列数
+ * @param params RANSAC参数
+ * @param outPlanes 输出平面列表
+ * @param errCode 错误码
+ * @return 检测到的平面数量
+ */
+int SegmentPlanesByRansac(
+    const SVzNLPointXYZ* points,
+    int rows,
+    int cols,
+    const RansacPlaneSegmentationParams& params,
+    std::vector<PlaneSegment>& outPlanes,
+    int* errCode
+);
+
+/**
+ * @brief 根据法向量方向过滤平面，并去除各平面中距离平面过远的点
+ *
+ * 1. 计算每个平面法向量与参考方向的夹角，移除夹角超过阈值的平面。
+ * 2. 对保留的平面，将 pointIndices 中签名距离绝对值超过 maxDistFromPlane 的点移除
+ *    （maxDistFromPlane <= 0 时跳过此步骤）。
+ *
+ * @param planes      平面列表 (会被原地修改)
+ * @param params      法向过滤参数
+ * @param points      原始点云数组
+ * @param pointCount  原始点云数量
+ * @return 被移除的平面数量
+ */
+int FilterPlanesByNormal(
+    std::vector<PlaneSegment>& planes,
+    const NormalFilterParams& params,
+    const SVzNLPointXYZ* points,
+    int pointCount
+);
+
 #endif // PLANE_SEGMENTATION_H

Utils

@@ -1 +1 @@
-Subproject commit 7631f8aadce030e71321af4a4d6c9c2bf8be5b87
+Subproject commit 5e978eaea4f7891cc2f4a9ac871598cbb3178f50